A Technical Survey and Evaluation of Traditional Point Cloud Clustering Methods for LiDAR Panoptic Segmentation

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic information and a traditional LiDAR point cloud cluster algorithm to split each instance object. We argue geometry-based traditional clustering algorithms are worth being considered by showing a state-of-the-art performance among all published end-to-end deep learning solutions on the panoptic segmentation leaderboard of the SemanticKITTI dataset. To our best knowledge, we are the first to attempt the point cloud panoptic segmentation with clustering algorithms. Therefore, instead of working on new models, we give a comprehensive technical survey in this paper by implementing four typical cluster methods and report their performances on the benchmark. Those four cluster methods are the most representative ones with real-time running speed. They are implemented with C++ in this paper and then wrapped as a python function for seamless integration with the existing deep learning frameworks. We release our code for peer researchers who might be interested in this problem.

Learning Practically Feasible Policies for Online 3D Bin Packing

We tackle the Online 3D Bin Packing Problem, a challenging yet practically useful variant of the classical Bin Packing Problem. In this problem, the items are delivered to the agent without informing the full sequence information. Agent must directly pack these items into the target bin stably without changing their arrival order, and no further adjustment is permitted. Online 3D-BPP can be naturally formulated as Markov Decision Process (MDP). We adopt deep reinforcement learning, in particular, the on-policy actor-critic framework, to solve this MDP with constrained action space. To learn a practically feasible packing policy, we propose three critical designs. First, we propose an online analysis of packing stability based on a novel stacking tree. It attains a high analysis accuracy while reducing the computational complexity from $O(N^2)$ to $O(N \log N)$, making it especially suited for RL training. Second, we propose a decoupled packing policy learning for different dimensions of placement which enables high-resolution spatial discretization and hence high packing precision. Third, we introduce a reward function that dictates the robot to place items in a far-to-near order and therefore simplifies the collision avoidance in movement planning of the robotic arm. Furthermore, we provide a comprehensive discussion on several key implemental issues. The extensive evaluation demonstrates that our learned policy outperforms the state-of-the-art methods significantly and is practically usable for real-world applications.

Neural Tree Expansion for Multi-Robot Planning in Non-Cooperative Environments

We present a self-improving, neural tree expansion method for multi-robot online planning in non-cooperative environments, where each robot tries to maximize its cumulative reward while interacting with other self-interested robots. Our algorithm adapts the centralized, perfect information, discrete-action space method from Alpha Zero to a decentralized, partial information, continuous action space setting for multi-robot applications. Our method has three interacting components: (i) a centralized, perfect-information `expert' Monte Carlo Tree Search (MCTS) with large computation resources that provides expert demonstrations, (ii) a decentralized, partial-information `learner' MCTS with small computation resources that runs in real-time and provides self-play examples, and (iii) policy & value neural networks that are trained with the expert demonstrations and bias both the expert and the learner tree growth. Our numerical experiments demonstrate neural expansion generates compact search trees with better solution quality and 20 times less computational expense compared to MCTS without neural expansion. The resulting policies are dynamically sophisticated, demonstrate coordination between robots, and play the Reach-Target-Avoid differential game significantly better than the state-of-the-art control-theoretic baseline for multi-robot, double-integrator systems. Our hardware experiments on an aerial swarm demonstrate the computational advantage of neural tree expansion, enabling online planning at 20Hz with effective policies in complex scenarios.

Video Salient Object Detection via Adaptive Local-Global Refinement

Video salient object detection (VSOD) is an important task in many vision applications. Reliable VSOD requires to simultaneously exploit the information from both the spatial domain and the temporal domain. Most of the existing algorithms merely utilize simple fusion strategies, such as addition and concatenation, to merge the information from different domains. Despite their simplicity, such fusion strategies may introduce feature redundancy, and also fail to fully exploit the relationship between multi-level features extracted from both spatial and temporal domains. In this paper, we suggest an adaptive local-global refinement framework for VSOD. Different from previous approaches, we propose a local refinement architecture and a global one to refine the simply fused features with different scopes, which can fully explore the local dependence and the global dependence of multi-level features. In addition, to emphasize the effective information and suppress the useless one, an adaptive weighting mechanism is designed based on graph convolutional neural network (GCN). We show that our weighting methodology can further exploit the feature correlations, thus driving the network to learn more discriminative feature representation. Extensive experimental results on public video datasets demonstrate the superiority of our method over the existing ones.

Mitigating Generation Shifts for Generalized Zero-Shot Learning

Generalized Zero-Shot Learning (GZSL) is the task of leveraging semantic information (e.g., attributes) to recognize the seen and unseen samples, where unseen classes are not observable during training. It is natural to derive generative models and hallucinate training samples for unseen classes based on the knowledge learned from the seen samples. However, most of these models suffer from the `generation shifts', where the synthesized samples may drift from the real distribution of unseen data. In this paper, we conduct an in-depth analysis on this issue and propose a novel Generation Shifts Mitigating Flow (GSMFlow) framework, which is comprised of multiple conditional affine coupling layers for learning unseen data synthesis efficiently and effectively. In particular, we identify three potential problems that trigger the generation shifts, i.e., semantic inconsistency, variance decay, and structural permutation and address them respectively. First, to reinforce the correlations between the generated samples and the respective attributes, we explicitly embed the semantic information into the transformations in each of the coupling layers. Second, to recover the intrinsic variance of the synthesized unseen features, we introduce a visual perturbation strategy to diversify the intra-class variance of generated data and hereby help adjust the decision boundary of the classifier. Third, to avoid structural permutation in the semantic space, we propose a relative positioning strategy to manipulate the attribute embeddings, guiding which to fully preserve the inter-class geometric structure. Experimental results demonstrate that GSMFlow achieves state-of-the-art recognition performance in both conventional and generalized zero-shot settings. Our code is available at: https://github.com/uqzhichen/GSMFlow

Rethinking the Aligned and Misaligned Features in One-stage Object Detection

One-stage object detectors rely on the point feature to predict the detection results. However, the point feature may lack the information of the whole object and lead to a misalignment between the object and the point feature. Meanwhile, the classification and regression tasks are sensitive to different object regions, but their features are spatially aligned. In this paper, we propose a simple and plug-in operator that could generate aligned and disentangled features for each task, respectively, without breaking the fully convolutional manner. By predicting two task-aware point sets that are located in each sensitive region, this operator could disentangle the two tasks from the spatial dimension, as well as align the point feature with the object. We also reveal an interesting finding of the opposite effect of the long-range skip-connection for classification and regression, respectively. Based on the object-aligned and task-disentangled operator (OAT), we propose OAT-Net, which explicitly exploits point-set features for more accurate detection results. Extensive experiments on the MS-COCO dataset show that OAT can consistently boost different one-stage detectors by $\sim$2 AP. Notably, OAT-Net achieves 53.7 AP with Res2Net-101-DCN backbone and shows promising performance gain for small objects.

Multimodal Image-to-Image Translation via Mutual Information Estimation and Maximization

In this paper, we present a novel framework that can achieve multimodal image-to-image translation by simply encouraging the statistical dependence between the latent code and the output image in conditional generative adversarial networks. In addition, by incorporating a U-net generator into our framework, our method only needs to learn a one-sided translation model from the source image domain to the target image domain for both supervised and unsupervised multimodal image-to-image translation. Furthermore, our method also achieves disentanglement between the source domain content and the target domain style for free. We conduct experiments under supervised and unsupervised settings on various benchmark image-to-image translation datasets compared with the state-of-the-art methods, showing the effectiveness and simplicity of our method to achieve multimodal and high-quality results.

Transfer Learning for Pose Estimation of Illustrated Characters

Human pose information is a critical component in many downstream image processing tasks, such as activity recognition and motion tracking. Likewise, a pose estimator for the illustrated character domain would provide a valuable prior for assistive content creation tasks, such as reference pose retrieval and automatic character animation. But while modern data-driven techniques have substantially improved pose estimation performance on natural images, little work has been done for illustrations. In our work, we bridge this domain gap by efficiently transfer-learning from both domain-specific and task-specific source models. Additionally, we upgrade and expand an existing illustrated pose estimation dataset, and introduce two new datasets for classification and segmentation subtasks. We then apply the resultant state-of-the-art character pose estimator to solve the novel task of pose-guided illustration retrieval. All data, models, and code will be made publicly available.

DILBERT: Customized Pre-Training for Domain Adaptation withCategory Shift, with an Application to Aspect Extraction

The rise of pre-trained language models has yielded substantial progress in the vast majority of Natural Language Processing (NLP) tasks. However, a generic approach towards the pre-training procedure can naturally be sub-optimal in some cases. Particularly, fine-tuning a pre-trained language model on a source domain and then applying it to a different target domain, results in a sharp performance decline of the eventual classifier for many source-target domain pairs. Moreover, in some NLP tasks, the output categories substantially differ between domains, making adaptation even more challenging. This, for example, happens in the task of aspect extraction, where the aspects of interest of reviews of, e.g., restaurants or electronic devices may be very different. This paper presents a new fine-tuning scheme for BERT, which aims to address the above challenges. We name this scheme DILBERT: Domain Invariant Learning with BERT, and customize it for aspect extraction in the unsupervised domain adaptation setting. DILBERT harnesses the categorical information of both the source and the target domains to guide the pre-training process towards a more domain and category invariant representation, thus closing the gap between the domains. We show that DILBERT yields substantial improvements over state-of-the-art baselines while using a fraction of the unlabeled data, particularly in more challenging domain adaptation setups.

WAD: A Deep Reinforcement Learning Agent for Urban Autonomous Driving

Urban autonomous driving is an open and challenging problem to solve as the decision-making system has to account for several dynamic factors like multi-agent interactions, diverse scene perceptions, complex road geometries, and other rarely occurring real-world events. On the other side, with deep reinforcement learning (DRL) techniques, agents have learned many complex policies. They have even achieved super-human-level performances in various Atari Games and Deepmind's AlphaGo. However, current DRL techniques do not generalize well on complex urban driving scenarios. This paper introduces the DRL driven Watch and Drive (WAD) agent for end-to-end urban autonomous driving. Motivated by recent advancements, the study aims to detect important objects/states in high dimensional spaces of CARLA and extract the latent state from them. Further, passing on the latent state information to WAD agents based on TD3 and SAC methods to learn the optimal driving policy. Our novel approach utilizing fewer resources, step-by-step learning of different driving tasks, hard episode termination policy, and reward mechanism has led our agents to achieve a 100% success rate on all driving tasks in the original CARLA benchmark and set a new record of 82% on further complex NoCrash benchmark, outperforming the state-of-the-art model by more than +30% on NoCrash benchmark.